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Download ServoWire® SD 230 Series Drives
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ServoWire® 230 Series Drives ® ServoWire SD 230 Series Drives Up to 16 ServoWire SD drives can be networked directly to the SMLC using standard cabling. Up to 16 ServoWire SD drives can be interfaced to the SMLC utilizing the ServoWire protocol for motion control networking. Eight models offer continuous output currents from 2.5 to 60 amps RMS/phase at 115 or 230 VAC. The all-digital design eliminates all manual drive setup including pots and jumpers. Drive Features ✔ Small Footprint: higher power density reduces space requirements ✔ Sinusoidal commutation: improves low speed torque ripple and system efficiency ✔ Trapezoidal commutation & DC operation: provide user flexibility ✔ Field Oriented Control (FOC) and Space Vector Modulation (SVPWM): optimal performance at all motor speeds. ✔ Integral shunt regulators: for regenerative load dissipation (All models except SAC-SDM203 & SDM205). ✔ UL/CE approvals: UL Listed and CE Mark (low power supplies with overvoltage protection. ✔ Analog I/O: One 14-bit input; one 14-bit output ✔ Flexible Drive I/O: ServoWire drives provide two voltage directive & EMC) high speed sensor inputs, four optically isolated outputs (one output can be used as a userconfigurable fail-safe brake control output and another as a drive ready output), three optically isolated inputs (one input can be used as an estop input and/or as hardware overtravel limit switch inputs) and one bi-directional I/O point. Diagnostic LEDs aid debugging and terminal blocks make connecting easy. ✔ Status Indicator: Two digit display for network ID & drive status ✔ ServoWire Network Interface: Three connectors provide an all-digital control link to ServoWire Network, which is galvanically isolated from the drive and powered by the SMLC. ✔ Drive Power Inputs: Input power accepts 115 or 230 VAC nominal featuring separate logic and bus ✔ External Regen & Bus Connections: Allows bus power to be shared between drives (Models SACSDM225, SDM235 & SDM260 only) and/or the addition of an external resistor for dissipating regenerative energy from the system (All models except SAC-SDM203 & SDM205). ✔ Feedback Types: All models available with Encoder or Resolver feedback interface. ✔ Brushless Motor Feedback : Versatile encoder feedback interface accommodates quadrature encoders, and differential or single-ended hall tracks. ✔ Serial Encoders: Supports serial encoders including Yaskawa Sigma II and Tamagawa. Integrated Drive I/O ✔ High Speed Sensors: Each drive provides interfaces for two high-speed sensors. The ASEN and BSEN inputs, along with the internal encoder reference signal, can capture real-time axis position for either or both axes within one microsecond of assertion. They can initiate axis motion on the next position loop update (between 0.375 and 1.0 msec delay— depending on loop rate). ✔ E-Stop and Overtravel Limit Inputs: Each drive provides optically isolated inputs, which can be configured as hardware overtravel limits or an E-Stop. ✔ Brake Output: A user-configurable output is provided for control of fail-safe brakes. Brake options are available for H-Series servomotors. ✔ Drive Ready: A user-configurable output is provided to indicate when the drive is operating normally, without faults. This output is intended for use in the system e-stop interlock circuit. ✔ Zero Reference Output: A buffered motor zero reference (index mark) output signal is available. ✔ Diagnostic LEDs: Each I/O point has a visual indicator of its state. ✔ Terminal Blocks: Easy wiring to 3.81mm pitch terminal blocks. ORMEC -22- SERVOWIRE 230 SERIES DRIVES Specifications Main Circuit Power ❒ 115 or 230 VAC +15%, -20%, 50/60 Hz, single phase or three phase Mounting Information for SAC-SDM-203, 205, 210, 217 & 220 Mounting hole .210 [5.3] dia. Use 10-32 or M5 machine screw. (Qty 3) Minimum dismount clearance 1.30 [33] 10.5 [267] cable connector clearance 8.3 [210] .40 [10.2] Fan intake area Keep clear of obstruction. ID/STATUS Control Circuit Power ❒ 115 or 230 VAC, +15%, -20%, 50/60 Hz, 56 watts RMS, single phase J2 TB4 V+S V-S IN1 IN2 IN3 I4/O4 O4TRN SH OUT1 OUT2 OUT3 O5/Z 8.7 [220] L3 Bus+ RG Bus- Heat sink for SD-217/220 U J4 MOTOR FEEDBACK V Optional Pacer 2.5 [63.5] cable connector clearance 1.50 [38.1] .54 [14] 2.6 [66] 3.9 [99] 6.0 [153] .1 [2.5] 3.75 [95.2] W Mounting Information for SAC-SDM-225, 235 & 260 Mounting hole .210 [5.3] dia. Use 10-32 or M5 machine screw. (Qty 4) Minimum dismount clearance 11.1 [282] minimum cable clearance 8.45 [215] .4 [10.2] ID/STATUS BUS POWER L1 r t L2 L3 12.0 [305] 11.68 [297] V+S V-S IN1 IN2 IN3 I4/O4 O4TRN SH OUT1 OUT2 OUT3 O5/Z Bus+ RG TB5 SH ASEN BSEN V+S V-S TB4 J3 J2 J1 TB1 TB2 12.0 [305] BusU V J4 MOTOR FEEDBACK ServoWire® Drive Output ❒ 600 to 15,000 watts of output power (see Servomotor Selection Charts for power requirements on matching drives) ❒ IGBT pulse width-modulated with sinusoidal or trapezoidal commutation ❒ Large heat sinks (fan cooled on SACSDM220 – SDM260) ❒ Internal shunt regulator for regenerative load dissipation on all except SDM203 & SDM205 ❒ Peak currents up to 200% of RMS continuous capability ❒ DC Bus voltage of 325 VDC at nominal input of 230 VAC and 163 VDC at 115 VAC 8.7 [220] Fan is integral part of heatsink for SD_-220 L2 SH ASEN BSEN V+S V-S SERVOWIRE 1394 Position Command/Control Loop Update Rates ❒ Digital position command from the host PC via the ServoWire® network. ❒ Position loop updated on command at up to 2.66 kHz (application dependent). ❒ Velocity loop update rate: up to 5 kHz ❒ Torque loop update rate: 10 kHz L1 TB5 9.0 [229] r t J3 SERVOWIRE 1394 J1 BUS POWER W SH ServoWire Drive I/O ❒ Sensor inputs are software configurable for either NPN or PNP output transistor types and level or edge triggered response ❒ Sensor inputs provide one microsecond response time to capture machine position and initiate motion within one servo loop update ❒ Optically isolated interface for general purpose and motor reference outputs updated every servo loop update with a maximum sink current of 33ma per output ❒ External I/O power supply connections will accept 5-24 VDC (240mA maximum) to power input and output circuits ® Motor Encoder Feedback Interface ❒ Three differential input channels for encoder position feedback with 5.3 volt encoder power supplied ❒ Quadrature feedback 4x decoding with data rates to 8 MHz (after decode) ❒ Open-wire detection on quadrature channels A and B ORMEC .1 [2.5] 4.00 [102] 6.72 [171] 1.36 [35.4] ❒ Support for serial encoders including Yaskawa Sigma II and Tamagawa ❒ Three differential input channels for motor commutation feedback ❒ Input connections for thermal contact from motor windings ❒ Industry standard D-sub connector (25-pin female) interface Motor Resolver Feedback Interface ❒ Configurable conversion resolution of 12,14, or 16 bits position counts per revolution ❒ Configurable reference signal excitation frequency and transformation ratio ❒ Input connections for thermal contact from motor windings ❒ Industry standard D-sub connector (25-pin male) interface -23- Optional Pacer 2.5 [63.5] minimum cable clearance Minimum Fan Clearance (4"h x 4"w x 4"d) Environmental ❒ Ambient operating is 0 to 50C ❒ Ambient storage is -20 to 70C ❒ Humidity operating/storage is 90% RH or less (non-condensing). Drive Weights ❒ SAC-SDM203, 3.7 lbs (1.7 kg) ❒ SAC-SDM205, 3.7 lbs (1.7 kg) ❒ SAC-SDM210, 4.1 lbs (1.9 kg) ❒ SAC-SDM217, 5.8 lbs (2.6 kg) ❒ SAC-SDM220, 6.6 lbs (3.0 kg) ❒ SAC-SDM225, 17.7 lbs (8.0 kg) ❒ SAC-SDM235, 17.7 lbs (8.0 kg) ❒ SAC-SDM260, 17.7 lbs (8.0 kg) SERVOWIRE 230 SERIES DRIVES